-
Notifications
You must be signed in to change notification settings - Fork 2
/
xhc-whb04b.hal
197 lines (158 loc) · 13.7 KB
/
xhc-whb04b.hal
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
#//////////////////////////////////////////////////////////////////////////
### Example edit your ini and add :
#
#[HAL]
#HALFILE = <your-machine-hal>.hal
#HALFILE = xhc-whb04b-6.hal
#
## This section is for button mapping, you need to create for your own use.
#[HALUI]
#MDI_COMMAND=(debug,macro0)
#MDI_COMMAND=(debug,macro1)
#MDI_COMMAND=(debug,macro2)
#MDI_COMMAND=(debug,macro3)
#MDI_COMMAND=(debug,macro4)
#MDI_COMMAND=(debug,macro5)
#MDI_COMMAND=(debug,macro6)
#MDI_COMMAND=(debug,macro7)
#MDI_COMMAND=(debug,macro8)
#MDI_COMMAND=(debug,macro9)
#MDI_COMMAND=(debug,macro10)
#MDI_COMMAND=(debug,macro11)
#MDI_COMMAND=(debug,macro12)
#MDI_COMMAND=(debug,macro13)
#MDI_COMMAND=(debug,macro14)
#MDI_COMMAND=(debug,macro15)
#MDI_COMMAND=(debug,macro16)
#
#//////////////////////////////////////////////////////////////////////////
#
### Hal File xhc_whb04b_6.hal Example for 3 axis but i hope this is easy to add missing axis:
#
# ######################################################################
# load pendant components
# ######################################################################
loadusr -W xhc-whb04b-6 -HsfB
# ######################################################################
# pendant signal configuration
# ######################################################################
# On/Off signals
net machine.is-on halui.machine.is-on whb.halui.machine.is-on
net pdnt.machine.on whb.halui.machine.on halui.machine.on
net pdnt.machine.off whb.halui.machine.off halui.machine.off
# program related signals
net pdnt.program.is-idle whb.halui.program.is-idle halui.program.is-idle
net pdnt.program.is-paused whb.halui.program.is-paused halui.program.is-paused
net pdnt.program-is-running whb.halui.program.is-running halui.program.is-running
net pdnt.program.resume whb.halui.program.resume halui.program.resume
net pdnt.program.pause whb.halui.program.pause halui.program.pause
net pdnt.program.run whb.halui.program.run halui.program.run
net pdnt.program.stop whb.halui.program.stop halui.program.stop
# machine mode related signals
net pdnt.mode.auto whb.halui.mode.auto halui.mode.auto
net pdnt.mode.manual whb.halui.mode.manual halui.mode.manual
net pdnt.mode.mdi whb.halui.mode.mdi halui.mode.mdi
net pdnt.mode.joint whb.halui.mode.joint halui.mode.joint
net pdnt.mode.teleop whb.halui.mode.teleop halui.mode.teleop
net pdnt.mode.is-auto halui.mode.is-auto whb.halui.mode.is-auto
net pdnt.mode.is-manual halui.mode.is-manual whb.halui.mode.is-manual
net pdnt.mode.is-mdi halui.mode.is-mdi whb.halui.mode.is-mdi
net pdnt.mode.is-joint halui.mode.is-joint whb.halui.mode.is-joint
net pdnt.mode.is-teleop halui.mode.is-teleop whb.halui.mode.is-teleop
# "is-homed" axis signal for allowing pendant when machine is not homed
net pdnt.axis.X.is-homed halui.joint.0.is-homed whb.halui.joint.x.is-homed
net pdnt.axis.Y.is-homed halui.joint.1.is-homed whb.halui.joint.y.is-homed
net pdnt.axis.Z.is-homed halui.joint.2.is-homed whb.halui.joint.z.is-homed
# "selected axis" signals
net pdnt.axis.X.select whb.halui.axis.x.select halui.axis.x.select
net pdnt.axis.y.select whb.halui.axis.y.select halui.axis.y.select
net pdnt.axis.Z.select whb.halui.axis.z.select halui.axis.z.select
net pdnt.axis.x.jog-scale whb.axis.x.jog-scale axis.x.jog-scale
net pdnt.axis.y.jog-scale whb.axis.y.jog-scale axis.y.jog-scale
net pdnt.axis.z.jog-scale whb.axis.z.jog-scale axis.z.jog-scale
net pdnt.axis.x.jog-counts whb.axis.x.jog-counts axis.x.jog-counts
net pdnt.axis.y.jog-counts whb.axis.y.jog-counts axis.y.jog-counts
net pdnt.axis.z.jog-counts whb.axis.z.jog-counts axis.z.jog-counts
net pdnt.axis.x.jog-enable whb.axis.x.jog-enable axis.x.jog-enable
net pdnt.axis.y.jog-enable whb.axis.y.jog-enable axis.y.jog-enable
net pdnt.axis.z.jog-enable whb.axis.z.jog-enable axis.z.jog-enable
net pdnt.axis.x.jog-vel-mode whb.axis.x.jog-vel-mode axis.x.jog-vel-mode
net pdnt.axis.y.jog-vel-mode whb.axis.y.jog-vel-mode axis.y.jog-vel-mode
net pdnt.axis.z.jog-vel-mode whb.axis.z.jog-vel-mode axis.z.jog-vel-mode
# macro buttons to MDI commands
net pdnt.macro-1 whb.button.macro-1 lcec.0.6.dout-6 lcec.0.6.dout-7 # use MDI command from main.ini
#net pdnt.macro-2 whb.button.macro-2 halui.mdi-command-02 # use MDI command from main.ini or used for Hardcoded lube on/off
net pdnt.reserved.for.spindle+ whb.button.macro-3 # Hardcoded for spindle+ whb.halui.spindle.increase
net pdnt.reserved.for.spindle- whb.button.macro-4 # Hardcoded for spindle- whb.halui.spindle.decrease
#net pdnt.macro-5 whb.button.macro-5 halui.mdi-command-05 # use MDI command from main.ini
#net pdnt.macro-6 whb.button.macro-6 halui.mdi-command-06 # use MDI command from main.ini
#net pdnt.macro-7 whb.button.macro-7 halui.mdi-command-07 # use MDI command from main.ini
net pdnt.reserved.for.spindle.dir whb.button.macro-8 # Hardcoded for spindle direction inside pendant
#net pdnt.macro-9 whb.button.macro-9 halui.mdi-command-09 # use MDI command from main.ini
net pdnt.reserved.for.ABS-REL whb.button.macro-10 # Hardcoded for swap Dro Relative/Absolue
#net pdnt.macro-14 whb.button.macro-14 halui.mdi-command-14 # use MDI command from main.ini
net pdnt.reserved.for.flood whb.button.macro-15 # Hardcoded for halui.flood on/off
net pdnt.reserved.for.mist whb.button.macro-16 # Hardcoded for halui.mist on/off
#net pdnt.macro.11 whb.button.macro-11 halui.mdi-command-11 # use MDI command from main.ini
#net pdnt.macro.12 whb.button.macro-12 halui.mdi-command-12 # use MDI command from main.ini
#net pdnt.macro.13 whb.button.macro-13 halui.mdi-command-13 # use MDI command from main.ini
# flood and mist toggle signals
net pdnt.flood.is-on whb.halui.flood.is-on halui.flood.is-on #return signal is on or off
net pdnt.flood.off whb.halui.flood.off halui.flood.off #reserved whb.button.macro-15
net pdnt.flood.on whb.halui.flood.on halui.flood.on #reserved whb.button.macro-15
net pdnt.mist.is-on whb.halui.mist.is-on halui.mist.is-on #return signal is on or off
net pdnt.mist.off whb.halui.mist.off halui.mist.off #reserved whb.button.macro-16
net pdnt.mist.on whb.halui.mist.on halui.mist.on #reserved whb.button.macro-16
#net pdnt.lube.is-on whb.halui.lube.is-on halui.lube.is-on #return signal is on or off
#net pdnt.lube.off whb.halui.lube.off halui.lube.off #reserved whb.button.macro-2
#net pdnt.lube.on whb.halui.lube.on halui.lube.on #reserved whb.button.macro-2
# default function button signals
#net pdnt.button.m-home whb.button.m-home halui.home-all # Homing use built-in halui home all
#net pdnt.button.safe-z whb.button.safe-z halui.mdi-command-03 # Safe-z use MDI command from main.ini
#net pdnt.button.w-home whb.button.w-home halui.mdi-command-04 # Unpark use MDI command from main.ini
#net pdnt.button.probe-z whb.button.probe-z halui.mdi-command-08 # Probe-Z use MDI command from main.ini
# unused, just exposes pendant internal status or as basic button
#net pdnt.mode-lead whb.halui.feed.selected-lead
#net pdnt.mode-mpg-feed whb.halui.feed.selected-mpg-feed
#net pdnt.mode-continuous whb.halui.feed.selected-continuous
#net pdnt.mode-step whb.halui.feed.selected-step
#net pdnt.button.mode-mpg whb.button.mode-continuous
#net pdnt.button.mode-step whb.button.mode-step
#net pdnt.button.fn whb.button.fn
#net pdnt.button.reset whb.button.reset
#net pdnt.button.stop whb.button.stop
#net pdnt.button.start-pause whb.button.start-pause
#net pdnt.button.s-on-off whb.button.s-on-off
#net pdnt.button.spindle-plus whb.button.spindle-plus
#net pdnt.button.spindle-minus whb.button.spindle-minus
#net pdnt.button.feed-plus whb.button.feed-plus
#net pdnt.button.feed-minus whb.button.feed-minus
# spindle related signals
#net pdnt.spindle.is-on whb.halui.spindle.is-on spindle.0.on
net pdnt.spindle.start whb.halui.spindle.start halui.spindle.0.start
net pdnt.spindle.stop whb.halui.spindle.stop halui.spindle.0.stop
net pdnt.spindle.forward whb.halui.spindle.forward halui.spindle.0.forward
net pdnt.spindle.reverse whb.halui.spindle.reverse halui.spindle.0.reverse
net pdnt.spindle.increase whb.halui.spindle.increase halui.spindle.0.increase # reserved whb.button.macro-3
net pdnt.spindle.decrease whb.halui.spindle.decrease halui.spindle.0.decrease # reserved whb.button.macro-4
net pdnt.spindle-speed-abs whb.halui.spindle-speed-cmd spindle.0.speed-out-abs # speed cmd from motion in rpm absolue
# spindle speed override signals
net pdnt.spindle-override.scale whb.halui.spindle-override.scale halui.spindle.0.override.scale # needed for both spindle+/- and spindleoverride+/- button
net pdnt.spindle.override.value halui.spindle.0.override.value whb.halui.spindle-override.value # GUI feed rate related signals
net pdnt.spindle.override.increase whb.halui.spindle-override.increase halui.spindle.0.override.increase
net pdnt.spindle.override.decrease whb.halui.spindle-override.decrease halui.spindle.0.override.decrease
# GUI feed rate related signals can be used when program is running moving GUI slider
net pdnt.feed-override.scale whb.halui.feed-override.scale halui.feed-override.scale # needed for both FeedOverride+/- and rotary knob button
net pdnt.max-velocity.value whb.halui.max-velocity.value halui.max-velocity.value # needed for Mpg mode : button feed position% * max-velocity = Mpg feedrate
# take feed override min/max values from/to the GUI
net pdnt.feed-override.value halui.feed-override.value whb.halui.feed-override.value # GUI feed rate related signals
net pdnt.feed-override.increase whb.halui.feed-override.increase halui.feed-override.increase
net pdnt.feed-override.decrease whb.halui.feed-override.decrease halui.feed-override.decrease
# axis position related signals feedback
net pdnt.axis.x.pos-feedback halui.axis.x.pos-feedback whb.halui.axis.x.pos-feedback
net pdnt.axis.y.pos-feedback halui.axis.y.pos-feedback whb.halui.axis.y.pos-feedback
net pdnt.axis.z.pos-feedback halui.axis.z.pos-feedback whb.halui.axis.z.pos-feedback
# axis position related signals relative
net pdnt.axis.x.pos-relative halui.axis.x.pos-relative whb.halui.axis.x.pos-relative
net pdnt.axis.y.pos-relative halui.axis.y.pos-relative whb.halui.axis.y.pos-relative
net pdnt.axis.z.pos-relative halui.axis.z.pos-relative whb.halui.axis.z.pos-relative